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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li><li class="navelem"><a class="el" href="dir_e6ad0a15879717e90bb3edf6e9f68e2c.html">narrowphase</a></li>  </ul>
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<div class="title">shape.h</div>  </div>
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<a href="shape_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef SHAPE_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define SHAPE_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object__ex_8h.html">collision/collision_object_ex.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__fcl__collision__object_8h.html">collision/solvers/fcl/i_fcl_collision_object.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">   12</a></span>&#160;<span class="keyword">enum</span> <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> {</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a5c1fd1232bd9e615a4c1618591cd03ff">   13</a></span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a5c1fd1232bd9e615a4c1618591cd03ff">TYPE_POINT</a>,</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a122284f5707e6b7aa22ff002b69e0008">   14</a></span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a122284f5707e6b7aa22ff002b69e0008">TYPE_RECTANGLE_AABB</a>,</div><div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a45283ddf1b79bad61b43fbed57016185">   15</a></span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a45283ddf1b79bad61b43fbed57016185">TYPE_RECTANGLE_OBB</a>,</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a6a47a22046ce3b8c2279eaaecd6292b4">   16</a></span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a6a47a22046ce3b8c2279eaaecd6292b4">TYPE_SPHERE</a>,</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3aec5963166cc5990e6540dd3881f10bb1">   17</a></span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3aec5963166cc5990e6540dd3881f10bb1">TYPE_TRIANGLE</a>,</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7">   18</a></span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7">TYPE_POLYGON</a></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;};</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="namespacecollision.html#ad890f62395fa0503aecb77a91874aed2">   21</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a>;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape.html">   24</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_shape.html">Shape</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_collision_object_ex.html">CollisionObjectEx</a>, <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object.html">IFCLCollisionObject</a> {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape.html#a7f344a99a3e155fb725d750321350fe7">   28</a></span>&#160;  <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">CollisionObjectClass</a> <a class="code" href="classcollision_1_1_shape.html#a7f344a99a3e155fb725d750321350fe7">getCollisionObjectClass</a>()<span class="keyword"> const override </span>{</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843faef4730e258514d4a36debe756989c1cf">CollisionObjectClass::OBJ_CLASS_SHAPE</a>;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  }</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape.html#a707571ba3a684c0ef61c82b099ea8035">   32</a></span>&#160;  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">ISolverEntity_FCL</a> *<a class="code" href="classcollision_1_1_shape.html#a707571ba3a684c0ef61c82b099ea8035">getFclInterface</a>()<span class="keyword"> const override </span>{</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">this</span>;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  }</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="classcollision_1_1_shape.html#ac8e7fe1b16ef1ee803d511b593ae2936">Shape</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a> &amp;copy);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a> *<a class="code" href="classcollision_1_1_shape.html#a2eb0283fa4f04436df2f1ec2937b064f">clone</a>() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">center_x</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">center_y</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape.html#a55dc047a30f0c61947d0bb46df3af8dd">set_center</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_center);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_shape.html#aa415ef83e29916ba893fd3452eb06290">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <a class="code" href="classcollision_1_1_shape.html#a2bec0ccd43f30004758b2112b46659d4">timeSlice</a>(<span class="keywordtype">int</span> time_idx, <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) <span class="keyword">const</span>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_shape.html#ac80f4a8216ca9f78e0a55dcc4dd4bb6e">type</a>() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_shape.html#ad2b8994c5daeaab71cb04a73a6de8b0f">radius</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">// virtual ShapeConstPtr scale(double factor) const = 0;</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">// virtual ShapeConstPtr shrink(double value) const = 0;</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classcollision_1_1_shape.html#a1efc0d3437abbac61d5c444b9d1becf5">~Shape</a>();</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classcollision_1_1serialize_1_1_i_collision_object_export.html">serialize::ICollisionObjectExport</a> *exportThis(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape.html#a8aa65a2f272b0bfd2af0435307c082e1">   68</a></span>&#160;  <a class="code" href="classcollision_1_1_shape.html#a8aa65a2f272b0bfd2af0435307c082e1">Shape</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_center) : <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a>(_center) {}</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">   71</a></span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a>;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">   72</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">radius_</a>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;};</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;const Shape&gt; <a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a>;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classcollision_1_1_shape_html_a55dc047a30f0c61947d0bb46df3af8dd"><div class="ttname"><a href="classcollision_1_1_shape.html#a55dc047a30f0c61947d0bb46df3af8dd">collision::Shape::set_center</a></div><div class="ttdeci">void set_center(const Eigen::Vector2d &amp;_center)</div><div class="ttdoc">Set geometric center of shape.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00022">shape.cc:22</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">collision::solvers::solverFCL::ISolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="i__solver__entity__fcl_8h_source.html#l00011">i_solver_entity_fcl.h:11</a></div></div>
<div class="ttc" id="namespacecollision_html_aeb672fde41a9aa0fcc1c5da8af2e4657"><div class="ttname"><a href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">collision::ShapeConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const Shape &gt; ShapeConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00098">collision_object.h:98</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object.html">collision::solvers::solverFCL::IFCLCollisionObject</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00017">i_fcl_collision_object.h:17</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_ab453849fed42ee9769df87210ca5262d"><div class="ttname"><a href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">collision::Shape::radius_</a></div><div class="ttdeci">double radius_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00072">shape.h:72</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3aec5963166cc5990e6540dd3881f10bb1"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3aec5963166cc5990e6540dd3881f10bb1">collision::TYPE_TRIANGLE</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00017">shape.h:17</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a2eb0283fa4f04436df2f1ec2937b064f"><div class="ttname"><a href="classcollision_1_1_shape.html#a2eb0283fa4f04436df2f1ec2937b064f">collision::Shape::clone</a></div><div class="ttdeci">virtual Shape * clone() const =0</div></div>
<div class="ttc" id="i__fcl__collision__object_8h_html"><div class="ttname"><a href="i__fcl__collision__object_8h.html">i_fcl_collision_object.h</a></div></div>
<div class="ttc" id="collision__object__ex_8h_html"><div class="ttname"><a href="collision__object__ex_8h.html">collision_object_ex.h</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7">collision::TYPE_POLYGON</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00018">shape.h:18</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a5c1fd1232bd9e615a4c1618591cd03ff"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a5c1fd1232bd9e615a4c1618591cd03ff">collision::TYPE_POINT</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00013">shape.h:13</a></div></div>
<div class="ttc" id="namespacecollision_html_a6e97ae92656250cd1667b6a73100843faef4730e258514d4a36debe756989c1cf"><div class="ttname"><a href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843faef4730e258514d4a36debe756989c1cf">collision::OBJ_CLASS_SHAPE</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00009">collision_object_types.h:9</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a8aa65a2f272b0bfd2af0435307c082e1"><div class="ttname"><a href="classcollision_1_1_shape.html#a8aa65a2f272b0bfd2af0435307c082e1">collision::Shape::Shape</a></div><div class="ttdeci">Shape(const Eigen::Vector2d &amp;_center)</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00068">shape.h:68</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a45283ddf1b79bad61b43fbed57016185"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a45283ddf1b79bad61b43fbed57016185">collision::TYPE_RECTANGLE_OBB</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00015">shape.h:15</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a6a47a22046ce3b8c2279eaaecd6292b4"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a6a47a22046ce3b8c2279eaaecd6292b4">collision::TYPE_SPHERE</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00016">shape.h:16</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a122284f5707e6b7aa22ff002b69e0008"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a122284f5707e6b7aa22ff002b69e0008">collision::TYPE_RECTANGLE_AABB</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00014">shape.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1serialize_1_1_i_collision_object_export_html"><div class="ttname"><a href="classcollision_1_1serialize_1_1_i_collision_object_export.html">collision::serialize::ICollisionObjectExport</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__object__export_8h_source.html#l00008">i_collision_object_export.h:8</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a707571ba3a684c0ef61c82b099ea8035"><div class="ttname"><a href="classcollision_1_1_shape.html#a707571ba3a684c0ef61c82b099ea8035">collision::Shape::getFclInterface</a></div><div class="ttdeci">virtual const ISolverEntity_FCL * getFclInterface() const override</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00032">shape.h:32</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a7f344a99a3e155fb725d750321350fe7"><div class="ttname"><a href="classcollision_1_1_shape.html#a7f344a99a3e155fb725d750321350fe7">collision::Shape::getCollisionObjectClass</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionObjectClass getCollisionObjectClass() const override</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00028">shape.h:28</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a2bec0ccd43f30004758b2112b46659d4"><div class="ttname"><a href="classcollision_1_1_shape.html#a2bec0ccd43f30004758b2112b46659d4">collision::Shape::timeSlice</a></div><div class="ttdeci">virtual CollisionObjectConstPtr timeSlice(int time_idx, CollisionObjectConstPtr shared_ptr_this) const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00012">shape.cc:12</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a1efc0d3437abbac61d5c444b9d1becf5"><div class="ttname"><a href="classcollision_1_1_shape.html#a1efc0d3437abbac61d5c444b9d1becf5">collision::Shape::~Shape</a></div><div class="ttdeci">virtual ~Shape()</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00005">shape.cc:5</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_ac8e7fe1b16ef1ee803d511b593ae2936"><div class="ttname"><a href="classcollision_1_1_shape.html#ac8e7fe1b16ef1ee803d511b593ae2936">collision::Shape::Shape</a></div><div class="ttdeci">Shape(const Shape &amp;copy)</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00007">shape.cc:7</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_ad2b8994c5daeaab71cb04a73a6de8b0f"><div class="ttname"><a href="classcollision_1_1_shape.html#ad2b8994c5daeaab71cb04a73a6de8b0f">collision::Shape::radius</a></div><div class="ttdeci">double radius() const</div><div class="ttdoc">Get radius.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00027">shape.cc:27</a></div></div>
<div class="ttc" id="namespacecollision_html_a6e97ae92656250cd1667b6a73100843f"><div class="ttname"><a href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">collision::CollisionObjectClass</a></div><div class="ttdeci">CollisionObjectClass</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00007">collision_object_types.h:7</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">collision::ShapeType</a></div><div class="ttdeci">ShapeType</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00012">shape.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aa415ef83e29916ba893fd3452eb06290"><div class="ttname"><a href="classcollision_1_1_shape.html#aa415ef83e29916ba893fd3452eb06290">collision::Shape::print</a></div><div class="ttdeci">virtual void print(std::ostringstream &amp;stream) const =0</div><div class="ttdoc">Print all parameters of the shape.</div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a690571543f14979499df6fbada671f1f"><div class="ttname"><a href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">collision::Shape::center_x</a></div><div class="ttdeci">double center_x() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00018">shape.cc:18</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_ac80f4a8216ca9f78e0a55dcc4dd4bb6e"><div class="ttname"><a href="classcollision_1_1_shape.html#ac80f4a8216ca9f78e0a55dcc4dd4bb6e">collision::Shape::type</a></div><div class="ttdeci">virtual ShapeType type() const =0</div><div class="ttdoc">Get shape type.</div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aabac3270d60bb5affed693af36fd39d8"><div class="ttname"><a href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">collision::Shape::center_y</a></div><div class="ttdeci">double center_y() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00020">shape.cc:20</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a3a397b619573e160d18954605a11f7bd"><div class="ttname"><a href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">collision::Shape::center_</a></div><div class="ttdeci">Eigen::Vector2d center_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00071">shape.h:71</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aca9a2f6e0de0822e241e39dad9c419ce"><div class="ttname"><a href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">collision::Shape::center</a></div><div class="ttdeci">Eigen::Vector2d center() const</div><div class="ttdoc">Get geometric center of shape.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00016">shape.cc:16</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></div><div class="ttdoc">Provides functionality to use different collision solvers.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8h_source.html#l00024">collision_object_ex.h:24</a></div></div>
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